Eigen::RotationBase< Derived, Dim_ > Class Template Reference

Common base class for compact rotation representations. More...

#include <RotationBase.h>

Inheritance diagram for Eigen::RotationBase< Derived, Dim_ >:

Public Types
enum	{ Dim = Dim_ }
typedef internal::traits< Derived >::Scalar	Scalar
typedef Matrix< Scalar, Dim, Dim >	RotationMatrixType
typedef Matrix< Scalar, Dim, 1 >	VectorType

Public Member Functions
EIGEN_DEVICE_FUNC const Derived &	derived () const
EIGEN_DEVICE_FUNC Derived &	derived ()
EIGEN_DEVICE_FUNC RotationMatrixType	toRotationMatrix () const
EIGEN_DEVICE_FUNC RotationMatrixType	matrix () const
EIGEN_DEVICE_FUNC Derived	inverse () const
EIGEN_DEVICE_FUNC Transform< Scalar, Dim, Isometry >	operator* (const Translation< Scalar, Dim > &t) const
EIGEN_DEVICE_FUNC RotationMatrixType	operator* (const UniformScaling< Scalar > &s) const
template<typename OtherDerived >
EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType	operator* (const EigenBase< OtherDerived > &e) const
template<int Mode, int Options>
EIGEN_DEVICE_FUNC Transform< Scalar, Dim, Mode >	operator* (const Transform< Scalar, Dim, Mode, Options > &t) const
template<typename OtherVectorType >
EIGEN_DEVICE_FUNC VectorType	_transformVector (const OtherVectorType &v) const

Friends
template<typename OtherDerived >
EIGEN_DEVICE_FUNC RotationMatrixType	operator* (const EigenBase< OtherDerived > &l, const Derived &r)
EIGEN_DEVICE_FUNC friend Transform< Scalar, Dim, Affine >	operator* (const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)

Detailed Description

template<typename Derived, int Dim_>
class Eigen::RotationBase< Derived, Dim_ >

Common base class for compact rotation representations.

Template Parameters

Derived	is the derived type, i.e., a rotation type
Dim_	the dimension of the space

Member Typedef Documentation

RotationMatrixType

template<typename Derived , int Dim_>

typedef Matrix<Scalar, Dim, Dim> Eigen::RotationBase< Derived, Dim_ >::RotationMatrixType

corresponding linear transformation matrix type

Scalar

template<typename Derived , int Dim_>

typedef internal::traits<Derived>::Scalar Eigen::RotationBase< Derived, Dim_ >::Scalar

the scalar type of the coefficients

VectorType

template<typename Derived , int Dim_>

typedef Matrix<Scalar, Dim, 1> Eigen::RotationBase< Derived, Dim_ >::VectorType

Member Enumeration Documentation

anonymous enum

template<typename Derived , int Dim_>

anonymous enum

Enumerator
Dim

{ Dim = Dim_ };

Member Function Documentation

_transformVector()

template<typename Derived , int Dim_>

template<typename OtherVectorType >

EIGEN_DEVICE_FUNC VectorType Eigen::RotationBase< Derived, Dim_ >::_transformVector ( const OtherVectorType &  v ) const

inline

                                                                                       {
    return toRotationMatrix() * v;
  }

References Eigen::RotationBase< Derived, Dim_ >::toRotationMatrix(), and v.

derived() [1/2]

template<typename Derived , int Dim_>

EIGEN_DEVICE_FUNC Derived& Eigen::RotationBase< Derived, Dim_ >::derived ( )

inline

{ return *static_cast<Derived*>(this); }

derived() [2/2]

template<typename Derived , int Dim_>

EIGEN_DEVICE_FUNC const Derived& Eigen::RotationBase< Derived, Dim_ >::derived ( ) const

inline

{ return *static_cast<const Derived*>(this); }

Referenced by Eigen::RotationBase< Derived, Dim_ >::inverse(), Eigen::RotationBase< Derived, Dim_ >::matrix(), Eigen::RotationBase< Derived, Dim_ >::operator*(), Eigen::QuaternionBase< Derived >::operator*=(), and Eigen::RotationBase< Derived, Dim_ >::toRotationMatrix().

inverse()

template<typename Derived , int Dim_>

EIGEN_DEVICE_FUNC Derived Eigen::RotationBase< Derived, Dim_ >::inverse ( ) const

inline

Returns

the inverse rotation

{ return derived().inverse(); }

References Eigen::RotationBase< Derived, Dim_ >::derived().

matrix()

template<typename Derived , int Dim_>

EIGEN_DEVICE_FUNC RotationMatrixType Eigen::RotationBase< Derived, Dim_ >::matrix ( ) const

inline

Returns

an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.

{ return derived().toRotationMatrix(); }

References Eigen::RotationBase< Derived, Dim_ >::derived().

operator*() [1/4]

template<typename Derived , int Dim_>

template<typename OtherDerived >

EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase< Derived, Dim_ >::operator* ( const EigenBase< OtherDerived > &  e ) const

inline

Returns

the concatenation of the rotation *this with a generic expression e e can be:

• a DimxDim linear transformation matrix
• a DimxDim diagonal matrix (axis aligned scaling)
• a vector of size Dim

                                                        {
    return internal::rotation_base_generic_product_selector<Derived, OtherDerived>::run(derived(), e.derived());
  }

References Eigen::RotationBase< Derived, Dim_ >::derived(), e(), and run().

operator*() [2/4]

template<typename Derived , int Dim_>

template<int Mode, int Options>

EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode> Eigen::RotationBase< Derived, Dim_ >::operator* ( const Transform< Scalar, Dim, Mode, Options > &  t ) const

inline

Returns

the concatenation of the rotation *this with a transformation t

                                                            {
    return toRotationMatrix() * t;
  }

References plotPSD::t, and Eigen::RotationBase< Derived, Dim_ >::toRotationMatrix().

operator*() [3/4]

template<typename Derived , int Dim_>

EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Isometry> Eigen::RotationBase< Derived, Dim_ >::operator* ( const Translation< Scalar, Dim > &  t ) const

inline

Returns

the concatenation of the rotation *this with a translation t

                                                                                                               {
    return Transform<Scalar, Dim, Isometry>(*this) * t;
  }

References plotPSD::t.

operator*() [4/4]

template<typename Derived , int Dim_>

EIGEN_DEVICE_FUNC RotationMatrixType Eigen::RotationBase< Derived, Dim_ >::operator* ( const UniformScaling< Scalar > &  s ) const

inline

Returns

the concatenation of the rotation *this with a uniform scaling s

                                                                                               {
    return toRotationMatrix() * s.factor();
  }

References s, and Eigen::RotationBase< Derived, Dim_ >::toRotationMatrix().

toRotationMatrix()

template<typename Derived , int Dim_>

EIGEN_DEVICE_FUNC RotationMatrixType Eigen::RotationBase< Derived, Dim_ >::toRotationMatrix ( void  ) const

inline

Returns

an equivalent rotation matrix

{ return derived().toRotationMatrix(); }

References Eigen::RotationBase< Derived, Dim_ >::derived().

Referenced by Eigen::RotationBase< Derived, Dim_ >::_transformVector(), and Eigen::RotationBase< Derived, Dim_ >::operator*().

Friends And Related Function Documentation

operator* [1/2]

template<typename Derived , int Dim_>

EIGEN_DEVICE_FUNC friend Transform<Scalar, Dim, Affine> operator* ( const DiagonalMatrix< Scalar, Dim > &  l, const Derived &  r  )

friend

Returns

the concatenation of a scaling l with the rotation r

                                                                                             {
    Transform<Scalar, Dim, Affine> res(r);
    res.linear().applyOnTheLeft(l);
    return res;
  }

operator* [2/2]

template<typename Derived , int Dim_>

template<typename OtherDerived >

EIGEN_DEVICE_FUNC RotationMatrixType operator* ( const EigenBase< OtherDerived > &  l, const Derived &  r  )

friend

Returns

the concatenation of a linear transformation l with the rotation r

                                                                                                                   {
    return l.derived() * r.toRotationMatrix();
  }

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The documentation for this class was generated from the following files:

• ForwardDeclarations.h
• RotationBase.h